mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
#pragma once
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend_Serial.h"
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class AP_RangeFinder_BLPing : public AP_RangeFinder_Backend_Serial
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{
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public:
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
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// update state
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void update(void) override;
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protected:
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_ULTRASOUND;
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}
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private:
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void init_sensor();
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// send message to sensor
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void send_message(uint16_t msgid, const uint8_t *payload, uint16_t payload_len);
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// read a distance from the sensor
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bool get_reading(uint16_t &reading_cm) override;
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uint16_t read_timeout_ms() const override { return 500; }
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// process one byte received on serial port
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// returns true if a distance message has been successfully parsed
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// state is stored in msg structure
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bool parse_byte(uint8_t b);
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enum class ParseState {
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HEADER1 = 0,
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HEADER2,
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LEN_L,
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LEN_H,
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MSG_ID_L,
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MSG_ID_H,
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SRC_ID,
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DST_ID,
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PAYLOAD,
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CRC_L,
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CRC_H
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};
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uint32_t last_init_ms; // system time that sensor was last initialised
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uint16_t distance_cm; // latest distance
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// structure holding latest message contents
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struct {
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ParseState state; // state of incoming message processing
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uint8_t payload[20]; // payload
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uint16_t payload_len; // latest message payload length
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uint16_t msgid; // latest message's message id
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uint16_t payload_recv; // number of message's payload bytes received so far
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uint16_t crc; // latest message's crc
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uint16_t crc_expected; // latest message's expected crc
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} msg;
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};
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